2 #include <tf/transform_broadcaster.h>
4 int main(
int argc,
char** argv)
6 ros::init(argc, argv,
"my_tf_broadcaster");
9 tf::TransformBroadcaster br;
10 tf::Transform transform;
16 transform.setOrigin( tf::Vector3( -1.8375, 0.2646, 1.1118) );
20 tf3d.setValue( -0.0184, -0.1384, 0.9902,
21 -0.9998, 0.0052, -0.0179,
22 -0.0027, -0.9904, -0.1384);
25 tf3d.getRotation(tfqt);
29 transform.setRotation(tfqt);
31 br.sendTransform(tf::StampedTransform(transform, ros::Time::now(),
"atc/vehicle/center_bumper",
"atc/vehicle/carrot1"));
int main(int argc, char **argv)